The generic spec for full charge is around 12.6 volts. I'd check the voltage circuits at the starter before pulling anything. One circuit is battery voltage, hot all the time. The other circuit, purple wire, starter solenoid s terminal. Should go hot with key in the crank position. Your security system can kill the starter.
My info for starter removal is pretty basic, doesn't say anything about cross-member being in the way? I can't tell much about removal without being able to look at it.
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Tuesday, October 2nd, 2018 AT 12:47 PM